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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::keypoints::brisk::ScaleSpace类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a5ba8bc51f46b5645e8242b553fae3ada"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a5ba8bc51f46b5645e8242b553fae3ada">ScaleSpace</a> (int octaves=3)</td></tr>
<tr class="memdesc:a5ba8bc51f46b5645e8242b553fae3ada"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. Specify the number of octaves.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a5ba8bc51f46b5645e8242b553fae3ada">更多...</a><br /></td></tr>
<tr class="separator:a5ba8bc51f46b5645e8242b553fae3ada"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d76800cce5c06421299877f195dc0ba"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a7d76800cce5c06421299877f195dc0ba">constructPyramid</a> (const std::vector&lt; unsigned char &gt; &amp;image, int width, int height)</td></tr>
<tr class="memdesc:a7d76800cce5c06421299877f195dc0ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct the image pyramids.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a7d76800cce5c06421299877f195dc0ba">更多...</a><br /></td></tr>
<tr class="separator:a7d76800cce5c06421299877f195dc0ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3bd3803a23dc47879288696538f4749"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ad3bd3803a23dc47879288696538f4749">getKeypoints</a> (const int threshold, std::vector&lt; <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a> &gt; &gt; &amp;keypoints)</td></tr>
<tr class="memdesc:ad3bd3803a23dc47879288696538f4749"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the keypoints for the associated image and threshold.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ad3bd3803a23dc47879288696538f4749">更多...</a><br /></td></tr>
<tr class="separator:ad3bd3803a23dc47879288696538f4749"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a8febd59e990d4e0ff742d076735f9a95"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a8febd59e990d4e0ff742d076735f9a95">isMax2D</a> (const uint8_t layer, const int x_layer, const int y_layer)</td></tr>
<tr class="separator:a8febd59e990d4e0ff742d076735f9a95"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac411ee92b7f4495f908c09c0bced493e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ac411ee92b7f4495f908c09c0bced493e">refine1D</a> (const float s_05, const float s0, const float s05, float &amp;max)</td></tr>
<tr class="separator:ac411ee92b7f4495f908c09c0bced493e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01bc4bf801cd48a9b229902fb9790253"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a01bc4bf801cd48a9b229902fb9790253">refine1D_1</a> (const float s_05, const float s0, const float s05, float &amp;max)</td></tr>
<tr class="separator:a01bc4bf801cd48a9b229902fb9790253"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35059cabb6e1521a3f4ea2f64952f8b6"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a35059cabb6e1521a3f4ea2f64952f8b6">refine1D_2</a> (const float s_05, const float s0, const float s05, float &amp;max)</td></tr>
<tr class="separator:a35059cabb6e1521a3f4ea2f64952f8b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1905f634b8f72d9799a7c15093515d4d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a1905f634b8f72d9799a7c15093515d4d">subpixel2D</a> (const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float &amp;delta_x, float &amp;delta_y)</td></tr>
<tr class="separator:a1905f634b8f72d9799a7c15093515d4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6199c69da4a029a9371b328d6c550e9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#af6199c69da4a029a9371b328d6c550e9">refine3D</a> (const uint8_t layer, const int x_layer, const int y_layer, float &amp;x, float &amp;y, float &amp;scale, bool &amp;ismax)</td></tr>
<tr class="separator:af6199c69da4a029a9371b328d6c550e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09d459a864025a7e6b072e7f07d55652"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a09d459a864025a7e6b072e7f07d55652">getScoreAbove</a> (const uint8_t layer, const int x_layer, const int y_layer)</td></tr>
<tr class="separator:a09d459a864025a7e6b072e7f07d55652"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9163ca654316e17bd071d1410aeb3473"><td class="memItemLeft" align="right" valign="top"><a id="a9163ca654316e17bd071d1410aeb3473"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>getScoreBelow</b> (const uint8_t layer, const int x_layer, const int y_layer)</td></tr>
<tr class="separator:a9163ca654316e17bd071d1410aeb3473"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adad0c8bc11c591c1cf36bdff31db2e53"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#adad0c8bc11c591c1cf36bdff31db2e53">getScoreMaxAbove</a> (const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &amp;ismax, float &amp;dx, float &amp;dy)</td></tr>
<tr class="separator:adad0c8bc11c591c1cf36bdff31db2e53"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12c326ceb2f71771422c4aaec3003cf3"><td class="memItemLeft" align="right" valign="top"><a id="a12c326ceb2f71771422c4aaec3003cf3"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>getScoreMaxBelow</b> (const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &amp;ismax, float &amp;dx, float &amp;dy)</td></tr>
<tr class="separator:a12c326ceb2f71771422c4aaec3003cf3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a0abfca30e2f35214e9e401a167c15ff2"><td class="memItemLeft" align="right" valign="top"><a id="a0abfca30e2f35214e9e401a167c15ff2"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>layers_</b></td></tr>
<tr class="separator:a0abfca30e2f35214e9e401a167c15ff2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5702304625121d3de9bd919a8784251"><td class="memItemLeft" align="right" valign="top"><a id="ac5702304625121d3de9bd919a8784251"></a>
std::vector&lt; <a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">pcl::keypoints::brisk::Layer</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pyramid_</b></td></tr>
<tr class="separator:ac5702304625121d3de9bd919a8784251"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17e67ea38a0248186ba709b822a9be03"><td class="memItemLeft" align="right" valign="top"><a id="a17e67ea38a0248186ba709b822a9be03"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>threshold_</b></td></tr>
<tr class="separator:a17e67ea38a0248186ba709b822a9be03"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acbe41fe1df8f8d2be4306e63c1aa158f"><td class="memItemLeft" align="right" valign="top"><a id="acbe41fe1df8f8d2be4306e63c1aa158f"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>safe_threshold_</b></td></tr>
<tr class="separator:acbe41fe1df8f8d2be4306e63c1aa158f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5893365aa15bedad6b08addfefbae3c"><td class="memItemLeft" align="right" valign="top"><a id="ab5893365aa15bedad6b08addfefbae3c"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>safety_factor_</b></td></tr>
<tr class="separator:ab5893365aa15bedad6b08addfefbae3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3d542f73c6ff1702692793aa8bc6c86"><td class="memItemLeft" align="right" valign="top"><a id="ae3d542f73c6ff1702692793aa8bc6c86"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>basic_size_</b></td></tr>
<tr class="separator:ae3d542f73c6ff1702692793aa8bc6c86"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>BRISK Scale Space helper. </p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a5ba8bc51f46b5645e8242b553fae3ada"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5ba8bc51f46b5645e8242b553fae3ada">&#9670;&nbsp;</a></span>ScaleSpace()</h2>

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<div class="memproto">
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        <tr>
          <td class="memname">pcl::keypoints::brisk::ScaleSpace::ScaleSpace </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>octaves</em> = <code>3</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. Specify the number of octaves. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">octaves</td><td>the number of octaves (default: 3) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a7d76800cce5c06421299877f195dc0ba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7d76800cce5c06421299877f195dc0ba">&#9670;&nbsp;</a></span>constructPyramid()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::keypoints::brisk::ScaleSpace::constructPyramid </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; unsigned char &gt; &amp;&#160;</td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>height</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Construct the image pyramids. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">image</td><td>the image to construct pyramids for </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>the image width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>the image height </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="ad3bd3803a23dc47879288696538f4749"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad3bd3803a23dc47879288696538f4749">&#9670;&nbsp;</a></span>getKeypoints()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::keypoints::brisk::ScaleSpace::getKeypoints </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>keypoints</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the keypoints for the associated image and threshold. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold for the keypoints </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">keypoints</td><td>the resultant list of keypoints </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a09d459a864025a7e6b072e7f07d55652"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a09d459a864025a7e6b072e7f07d55652">&#9670;&nbsp;</a></span>getScoreAbove()</h2>

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<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int pcl::keypoints::brisk::ScaleSpace::getScoreAbove </td>
          <td>(</td>
          <td class="paramtype">const uint8_t&#160;</td>
          <td class="paramname"><em>layer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>x_layer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>y_layer</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>interpolated score access with recalculation when needed </p>

</div>
</div>
<a id="adad0c8bc11c591c1cf36bdff31db2e53"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adad0c8bc11c591c1cf36bdff31db2e53">&#9670;&nbsp;</a></span>getScoreMaxAbove()</h2>

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          <td class="memname">float pcl::keypoints::brisk::ScaleSpace::getScoreMaxAbove </td>
          <td>(</td>
          <td class="paramtype">const uint8_t&#160;</td>
          <td class="paramname"><em>layer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>x_layer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>y_layer</em>, </td>
        </tr>
        <tr>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
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          <td class="paramtype">bool &amp;&#160;</td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>dx</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>dy</em>&#160;</td>
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<p>return the maximum of score patches above or below </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8febd59e990d4e0ff742d076735f9a95">&#9670;&nbsp;</a></span>isMax2D()</h2>

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          <td class="memname">bool pcl::keypoints::brisk::ScaleSpace::isMax2D </td>
          <td>(</td>
          <td class="paramtype">const uint8_t&#160;</td>
          <td class="paramname"><em>layer</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>x_layer</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>y_layer</em>&#160;</td>
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<p>Nonmax suppression. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac411ee92b7f4495f908c09c0bced493e">&#9670;&nbsp;</a></span>refine1D()</h2>

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          <td class="memname">float pcl::keypoints::brisk::ScaleSpace::refine1D </td>
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          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>s_05</em>, </td>
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          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>s0</em>, </td>
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          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>s05</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>max</em>&#160;</td>
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<p>1D (scale axis) refinement: around octave </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a01bc4bf801cd48a9b229902fb9790253">&#9670;&nbsp;</a></span>refine1D_1()</h2>

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          <td class="paramname"><em>max</em>&#160;</td>
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<p>1D (scale axis) refinement: around intra </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a35059cabb6e1521a3f4ea2f64952f8b6">&#9670;&nbsp;</a></span>refine1D_2()</h2>

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          <td class="paramname"><em>s_05</em>, </td>
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          <td class="paramname"><em>s05</em>, </td>
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          <td class="paramname"><em>max</em>&#160;</td>
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<p>1D (scale axis) refinement: around octave 0 only </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af6199c69da4a029a9371b328d6c550e9">&#9670;&nbsp;</a></span>refine3D()</h2>

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          <td class="paramname"><em>layer</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>x_layer</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>y_layer</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>scale</em>, </td>
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          <td class="paramname"><em>ismax</em>&#160;</td>
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<p>3D maximum refinement centered around (x_layer,y_layer) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1905f634b8f72d9799a7c15093515d4d">&#9670;&nbsp;</a></span>subpixel2D()</h2>

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          <td class="memname">float pcl::keypoints::brisk::ScaleSpace::subpixel2D </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_0_0</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_0_1</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_0_2</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_1_0</em>, </td>
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          <td class="paramname"><em>s_1_2</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_2_0</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_2_1</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>s_2_2</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>delta_x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>delta_y</em>&#160;</td>
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<p>2D maximum refinement </p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a></li>
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    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>keypoints</b></li><li class="navelem"><b>brisk</b></li><li class="navelem"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html">ScaleSpace</a></li>
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